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Reduced-Order Fast Converging Observers for Systems with Discrete Measurements and Measurement Error

Abstract : We provide novel reduced-order observer designs for continuous-time nonlinear systems with measurement error. Our first result applies to systems with continuous output measurements, and provides observers that converge in a fixed finite time that is independent of the initial state when the measurement error is zero. Our second result applies under discrete measurements, and provides observers that converge asymptotically with a rate of convergence that is proportional to the negative of the logarithm of the size of a sampling interval. Our observers satisfy an enhanced input-to-state stability property with respect to the measurement error, in which an overshoot term only depends on a recent history of the measurement error. We illustrate our observers using a model of a single-link robotic manipulator coupled to a DC motor with a nonrigid joint, and in a pendulum example.
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https://hal.inria.fr/hal-03144750
Contributor : Frederic Mazenc Connect in order to contact the contributor
Submitted on : Wednesday, February 17, 2021 - 7:21:34 PM
Last modification on : Thursday, January 20, 2022 - 5:27:20 PM
Long-term archiving on: : Tuesday, May 18, 2021 - 7:51:03 PM

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  • HAL Id : hal-03144750, version 1

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Frederic Mazenc, Michael Malisoff, Zhong-Ping Jiang. Reduced-Order Fast Converging Observers for Systems with Discrete Measurements and Measurement Error. Systems and Control Letters, Elsevier, 2021. ⟨hal-03144750⟩

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